Adaptive Backstepping Control for a 2-DOF Robot Manipulator: A State Augmentation Approach

Nazila Nikdel and Mohammad Ali Badamchizadeh

Abstract—In this paper, the state augmented adaptive backstepping controller is designed and implemented on a two degrees of freedom (2-DOF) nonlinear robot manipulator. The controller should be designed in a way to stabilize the system and make the manipulator track the desired trajectory. The concept of backstepping control is to propose a virtual control signal in order to derive the tracking error value to zero. To this mean, first the system dynamic equations are simulated. The tracking error equations are derived and in order to improve the desired path tracking, an additional state is augmented to the equations. The state augmented backstepping controller is then developed for the system. The dynamical parameters of the manipulator are assumed to be unknown and an adaption law is derived via adaptive backstepping mechanism. Simulation results present the strength of the state augmented adaptive backstepping in tracking the desired trajectory.